scholarly journals Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism

2012 ◽  
Vol 28 (3) ◽  
pp. 541-554 ◽  
Author(s):  
H. Fukushima ◽  
S. Satomura ◽  
T. Kawai ◽  
M. Tanaka ◽  
T. Kamegawa ◽  
...  
Keyword(s):  
Modeling And Control ◽  
Drive Mechanism ◽  
Screw Drive ◽  
And Control

Modeling and Control of Backlash in the Drive Mechanism of a Radially Rotating Compliant Beam

1996 ◽  
Vol 118 (1) ◽  
pp. 158-161 ◽  
Author(s):  
Nabil G. Chalhoub ◽  
Xiaoying Zhang
Keyword(s):  
Adverse Effects ◽  
Controller Design ◽  
System Response ◽  
Flexible Beam ◽  
Modeling And Control ◽  
Drive Mechanism ◽  
Servo Loop ◽  
Viable Approach ◽  
And Control ◽  
Digital Simulations

The exclusion of the dynamic characteristics of indirect drives, from the controller design, has often led to a degraded performance in precision servomechanisms. In this study, the adverse effects of backlash, in the drive mechanism of a radially rotating flexible beam, are examined. The topological variations of the structure are handled by latent constraint equations which can be rendered active through the monitoring of the contact torque as well as kinematic indicators. A “backlash controller” is introduced to replace the original controller of the beam only during the period of gear disengagement. The experimental and numerical results provide a qualitative validation of the backlash model. The relationships with which the backlash in gearing would interact with both the servo-loop controller and the structural flexibility of the system are investigated. In addition, the digital simulations have proven that the “backlash controller” provides a viable approach in reducing the adverse effects of backlash on the overall system response.

Design, Modeling and Control of an Omni-Directional Mobile Robot

2010 ◽  
Vol 166-167 ◽  
pp. 173-178 ◽  
Author(s):  
Ioan Doroftei ◽  
Bogdan Stirbu
Keyword(s):  
Mobile Robot ◽  
Mechanical Engineering ◽  
Mechanical Design ◽  
Electrical Engineering ◽  
Modeling And Control ◽  
Drive Mechanism ◽  
Technical University ◽  
And Control

One of the main issues of a mobile robot is to move in tight areas, to avoid obstacles, finding its way to the next location. These capabilities mainly depend on the wheels design. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. This paper provides some information about the mechanical design of an omni-directional robot, as well as about its control. This report is the result of the cooperation between researchers from Mechanical Engineering and Electrical Engineering Faculties, at “Gh. Asachi” Technical University of Iasi, Romania.

Modeling and Control for Plant Dynamics Based on Reinforcement Learning

2009 ◽  
Vol 129 (4) ◽  
pp. 363-367
Author(s):  
Tomoyuki Maeda ◽  
Makishi Nakayama ◽  
Hiroshi Narazaki ◽  
Akira Kitamura
Keyword(s):  
Reinforcement Learning ◽  
Modeling And Control ◽  
Plant Dynamics ◽  
And Control
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